JP2009006460A - Robot hand - Google Patents

Robot hand Download PDF

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JP2009006460A
JP2009006460A JP2007172047A JP2007172047A JP2009006460A JP 2009006460 A JP2009006460 A JP 2009006460A JP 2007172047 A JP2007172047 A JP 2007172047A JP 2007172047 A JP2007172047 A JP 2007172047A JP 2009006460 A JP2009006460 A JP 2009006460A
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gripping
pair
robot hand
fingers
mechanisms
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Seiseki Maekawa
清石 前川
Mineo Higuchi
峰夫 樋口
Kazuhiko Fukushima
一彦 福島
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot hand capable of gripping a plurality of gripping objects with an identical hand, and preventing interference with a periphery even when a small object is gripped at the time of gripping a plurality of kinds of gripping objects with different sizes. <P>SOLUTION: This robot hand comprises gripping mechanisms 1, 2 capable of opening and closing a pair of fingers 3, 4 and 6, 7 and gripping a gripping object with fingers, and a relative position changing drive mechanism 9 for changing a relative position between the gripping mechanism 1, 2. The gripping mechanisms 1, 2 are constituted so that a plane face PB formed by a pair of fingers and a supporting part supporting the pair of fingers intersects with a face PA along each opening and closing direction A of the gripping mechanisms 1, 2 and a moving direction C of the gripping mechanisms 1, 2 by the relative position changing drive mechanism 9. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、複数種類の対象物を把持・組付けするためのロボットハンドに関するものである。   The present invention relates to a robot hand for gripping and assembling a plurality of types of objects.

複数種類の把持対象物（ワーク）を把持・組付けする従来のロボットハンドとしては、２個の把持爪を有する平行な２つの指が対向する方向に並進して開閉することにより、合計４個の把持爪でワークを押さえる４点接触式平行２指ハンドがあった。このようなロボットハンドにおいては、２つの指にそれぞれ取り付けられた２個の把持爪の間隔を把持対象物の大きさに応じてそれぞれ調整できるよう構成されている（例えば、特許文献１参照。）。   As a conventional robot hand for gripping and assembling a plurality of types of gripping objects (workpieces), a total of four robot hands can be opened and closed by translating and opening two parallel fingers in opposite directions. There was a four-point contact type parallel two-fingered hand that presses the workpiece with a gripping nail. Such a robot hand is configured such that the interval between two gripping claws attached to two fingers can be adjusted according to the size of the gripping object (see, for example, Patent Document 1). .

特開平１１−２６２８８６号公報（第３頁、図１、図２）Japanese Patent Laid-Open No. 11-262886 (page 3, FIG. 1, FIG. 2)

このようなロボットハンドにあっては、把持爪の間隔を調整して、大きな対象物と小さい対象物を同一のロボットハンドで把持することができるが、把持爪が指面に設けられているので、大きな対象物を把持するためには把持爪が設けられている指面の指面積を広くする必要がある。一方、このロボットハンドにより小さい対象物を把持し組み付け作業を行う場合には、上記指面積が大きいため、指が周辺に干渉する問題があった。
また、把持すべき複数の対象物の中に断面形状が円形の対象物がある場合には、安定して把持しにくい問題があった。例えば把持爪の長さを短くしていると、把持爪の間隔を広げた場合、把持爪ではなく指面が直接ワークと接触し、ワークとロボットハンドとの接触が４点ではなく２点接触となり安定しない。把持爪の長さを短く保ったまま４点接触させるには指間隔を狭くする必要があるが、指間隔を狭くすると４点接触であっても円形のワークを安定して把持できない。一方、把持爪を長くすると、把持爪の間隔を広げて４点接触により円形のワークを安定して把持することが可能であるが、指同士の間隔が長くなり、ロボットハンドが大型にならざるをえず、周囲と干渉する問題があった。
さらに、幅が途中で異なる対象物、十字型対象物、Ｔ字型対象物等は、対象物と指面とが干渉するため、把持しにくいという問題点があった。 In such a robot hand, a large object and a small object can be gripped by the same robot hand by adjusting the interval of the gripping nails, but the gripping nails are provided on the finger surface. In order to grip a large object, it is necessary to increase the finger area of the finger surface on which the gripping nails are provided. On the other hand, when a small object is held and assembled by the robot hand, there is a problem that the finger interferes with the periphery because the finger area is large.
In addition, when there is an object having a circular cross-section among a plurality of objects to be grasped, there is a problem that it is difficult to grasp stably. For example, if the length of the gripping nails is shortened and the gap between the gripping nails is widened, the finger surface, not the gripping nails, will directly contact the workpiece, and the contact between the workpiece and the robot hand will be two-point contact instead of four points. It is not stable. In order to make the four-point contact while keeping the length of the gripping claw short, it is necessary to narrow the finger interval. However, if the finger interval is narrowed, a circular workpiece cannot be stably grasped even with the four-point contact. On the other hand, if the gripping claws are lengthened, it is possible to widen the gap between the gripping claws and stably grip a circular workpiece by four-point contact, but the distance between fingers becomes long and the robot hand does not become large. First, there was a problem of interference with the surroundings.
Furthermore, there is a problem that an object having a different width, a cross-shaped object, a T-shaped object, and the like are difficult to grip because the object and the finger surface interfere with each other.

本発明は、かかる問題点を解決するためになされたものであり、複数の把持対象物を同一のハンドで把持できるロボットハンドであり、大きさの異なる複数種類の対象物を把持する際に、小さい対象物を把持する際も周囲との干渉を防止できるロボットハンドを提供することを目的としている。
また、幅が途中で異なる対象物、十字型対象物、Ｔ字型対象物等も容易に把持できるロボットハンドを提供することを目的としている。 The present invention was made to solve such problems, and is a robot hand that can grip a plurality of gripping objects with the same hand, and when gripping a plurality of types of objects having different sizes, An object of the present invention is to provide a robot hand that can prevent interference with the surroundings even when a small object is gripped.
It is another object of the present invention to provide a robot hand that can easily grip objects, cross-shaped objects, T-shaped objects, and the like that have different widths.

この発明に係るロボットハンドは、一対の把持部を互いに近接離反する方向に開閉し、把持対象物を上記一対の把持部で把持可能な把持機構を複数備えると共に、上記複数の把持機構の少なくとも１つを移動して上記複数の把持機構の相対位置を変更する相対位置変更用駆動機構を備えたロボットハンドであって、上記複数の把持機構は、上記一対の把持部と上記一対の把持部を支持する支持部とで構成される平面が、上記複数の把持機構の各開閉方向、及び上記相対位置変更用駆動機構による上記把持機構の移動方向に沿った面に対し交差するように並べられているものである。   The robot hand according to the present invention includes a plurality of gripping mechanisms capable of opening and closing a pair of gripping portions in directions close to and away from each other and gripping a gripping object with the pair of gripping portions, and at least one of the plurality of gripping mechanisms. A robot hand provided with a relative position changing drive mechanism for changing the relative positions of the plurality of gripping mechanisms by moving the pair of gripping mechanisms, wherein the plurality of gripping mechanisms include the pair of gripping portions and the pair of gripping portions. A plane constituted by a supporting part to be supported is arranged so as to intersect with each opening / closing direction of the plurality of gripping mechanisms and a plane along the moving direction of the gripping mechanism by the relative position changing drive mechanism. It is what.

この発明によれば、周囲との干渉を防止しながら、大きさや形状の異なる複数種類の対象物を把持・組み付けできる効果がある。   According to the present invention, there is an effect that a plurality of types of objects having different sizes and shapes can be gripped and assembled while preventing interference with the surroundings.

実施の形態１．
図１は本発明の実施の形態１によるロボットハンドを示す構成図である。
把持機構１は、一対の把持部（指３と指４）と、指３，４を支持すると共に指３，４を駆動する駆動機構（支持・駆動機構）５とを備えており、把持機構１は、駆動機構５により指３と指４とを互いに接近・離反する方向に駆動することにより２本の指３，４を開閉軸に沿って開閉し（矢印Ａは開閉方向であり、開閉軸の方向を示す。）、指３，４の開閉により把持対象物の一部を把持する。
把持機構２は、一対の把持部（指６と指７）と、指６，７を支持すると共に指６，７を駆動する駆動機構（支持・駆動機構）８とを備えており、把持機構２は、駆動機構８により指６と指７とを互いに接近・離反する方向に駆動することにより２本の指６，７を開閉軸に沿って開閉し（矢印Ａは開閉方向であり、開閉軸の方向を示す。）、指６，７の開閉により把持対象物の一部（把持機構１が把持している箇所とは別の部分）を把持する。
把持機構１の指３，４と把持機構２の指６，７とは同時に矢印Ａの方向に開閉させることができる。
また、指３，４，６，７の先端部（把持対象物を把持する部分）は、各把持機構１，２の開閉軸（矢印Ａの方向）と直交する面と、この直交面に対し傾斜した傾斜面とを有している。 Embodiment 1 FIG.
FIG. 1 is a block diagram showing a robot hand according to Embodiment 1 of the present invention.
The gripping mechanism 1 includes a pair of gripping portions (finger 3 and finger 4) and a drive mechanism (support / drive mechanism) 5 that supports the fingers 3 and 4 and drives the fingers 3 and 4. 1 opens and closes two fingers 3 and 4 along an opening / closing axis by driving the fingers 3 and 4 in a direction approaching and separating from each other by the drive mechanism 5 (the arrow A indicates the opening and closing direction; The direction of the axis is indicated.) A part of the grasped object is grasped by opening and closing the fingers 3 and 4.
The gripping mechanism 2 includes a pair of gripping portions (finger 6 and finger 7) and a drive mechanism (support / drive mechanism) 8 that supports the fingers 6 and 7 and drives the fingers 6 and 7. 2 opens and closes the two fingers 6 and 7 along the opening / closing axis by driving the finger 6 and the finger 7 toward and away from each other by the drive mechanism 8 (the arrow A indicates the opening and closing direction). The direction of the axis is indicated.), A part of the object to be grasped (a part different from the part grasped by the grasping mechanism 1) is grasped by opening and closing the fingers 6 and 7.
The fingers 3 and 4 of the gripping mechanism 1 and the fingers 6 and 7 of the gripping mechanism 2 can be simultaneously opened and closed in the direction of the arrow A.
Further, the tips of the fingers 3, 4, 6, and 7 (portions that grip the object to be gripped) are perpendicular to the open / close axis (the direction of the arrow A) of each gripping mechanism 1 and 2, and And an inclined surface.

さらに、把持機構１と把持機構２とは、各把持機構に設けた一対の指とこの一対の指を支持する駆動機構とで形成される平面ＰＢが互いに対向するように並べられており、上記平面ＰＢは、把持機構１，２の各開閉方向Ａに沿った面ＰＡに対し直交している。
また、把持機構１と把持機構２との少なくとも１つを相対位置変更用駆動機構９により矢印Ｃの方向（移動方向）に移動することができ、相互の相対位置を変更することにより把持機構１と把持機構２との距離を調整することが可能である。なお、相対位置変更用駆動機構９による把持機構１，２の移動方向Ｃと上記平面ＰＡとは平行である。
また、相対位置変更用駆動機構９は把持機構間に対象物を把持する把持力を発生させることが可能であり、把持機構１と把持機構２とを近接する方向に動作させることにより、把持機構１の指３，４と把持機構２の指６，７との間に対象物を挟みこみ、対象物を把持することも可能である。 Furthermore, the gripping mechanism 1 and the gripping mechanism 2 are arranged so that planes PB formed by a pair of fingers provided in each gripping mechanism and a drive mechanism that supports the pair of fingers are opposed to each other. The plane PB is orthogonal to the plane PA along each opening / closing direction A of the gripping mechanisms 1 and 2.
Further, at least one of the gripping mechanism 1 and the gripping mechanism 2 can be moved in the direction of arrow C (moving direction) by the relative position changing drive mechanism 9, and the gripping mechanism 1 can be changed by changing the relative position of each other. And the gripping mechanism 2 can be adjusted. The moving direction C of the gripping mechanisms 1 and 2 by the relative position changing drive mechanism 9 is parallel to the plane PA.
Further, the relative position changing drive mechanism 9 can generate a gripping force for gripping an object between the gripping mechanisms. By operating the gripping mechanism 1 and the gripping mechanism 2 in the direction of approaching, the gripping mechanism It is also possible to hold the target object by sandwiching the target object between the one finger 3, 4 and the finger 6, 7 of the gripping mechanism 2.

把持機構１の駆動機構５、把持機構２の駆動機構８、及び相対位置変更用駆動機構９は、それぞれ回転型の電動モータを１個づつ備え、ボールねじを介して把持機構１の指３，４、把持機構２の指６，７及び各把持機構１，２を動作させる。
なお、ボールねじ以外の伝達機構として、ラックアンドピニオン、トグル機構、歯付ベルトなどを用いても構わない。
また、回転型の電動モータではなく、リニアモータあるいはエアシリンダなどを採用しても構わない。 The driving mechanism 5 of the gripping mechanism 1, the driving mechanism 8 of the gripping mechanism 2, and the driving mechanism 9 for changing the relative position are each provided with one rotary electric motor, and the fingers 3 of the gripping mechanism 1 are connected via a ball screw. 4. The fingers 6 and 7 of the gripping mechanism 2 and the gripping mechanisms 1 and 2 are operated.
As a transmission mechanism other than the ball screw, a rack and pinion, a toggle mechanism, a toothed belt, or the like may be used.
Further, a linear motor or an air cylinder may be adopted instead of the rotary electric motor.

図１のロボットハンドは把持機構１の指３，４間の距離、把持機構２の指６，７間の距離、把持機構１と把持機構２との間の距離を変更することにより、小さい対象物から大きい対象物まで、複数種類の対象物を同一のロボットハンドで把持でき、特に小さい対象物を把持する際、周囲との干渉を防止しながら把持することができる。
例えば断面形状が大きい四角形の把持対象物を把持した場合のロボットハンドと把持対象物の状態を図２に示す。図２（ａ）は把持対象物１０と本実施の形態１のロボットハンドを下側から見た場合の図、図２（ｂ）は把持対象物１０と本実施の形態のロボットハンドを把持対象物１０の側面から見た場合の図である。
把持機構１及び把持機構２を閉じることにより、それぞれ２箇所、合計４個所にて把持対象物１０を把持しているため、安定した把持が可能となる。また、指の先端部には開閉軸（開閉方向Ａ）と直交する面３ａ，４ａ，６ａ，７ａを有しているので、この直交面３ａ，４ａ，６ａ，７ａで把持対象物１０を安定して把持することができる。 The robot hand of FIG. 1 is a small object by changing the distance between the fingers 3 and 4 of the gripping mechanism 1, the distance between the fingers 6 and 7 of the gripping mechanism 2, and the distance between the gripping mechanism 1 and the gripping mechanism 2. A plurality of types of objects from an object to a large object can be gripped by the same robot hand, and particularly when a small object is gripped, it can be gripped while preventing interference with the surroundings.
For example, FIG. 2 shows the state of the robot hand and the gripping target when a quadrangular gripping target having a large cross-sectional shape is gripped. FIG. 2A is a view when the grasped object 10 and the robot hand of the first embodiment are viewed from below, and FIG. 2B is a grasp object of the grasped object 10 and the robot hand of the present embodiment. It is a figure at the time of seeing from the side of the thing.
By closing the gripping mechanism 1 and the gripping mechanism 2, the gripping target object 10 is gripped at a total of four locations at two locations, so that stable gripping is possible. Further, since the tip of the finger has surfaces 3a, 4a, 6a, 7a orthogonal to the opening / closing axis (opening / closing direction A), the object to be grasped 10 is stabilized by these orthogonal surfaces 3a, 4a, 6a, 7a. And can be gripped.

図３は同じ本実施の形態１のロボットハンドで断面形状が小さい四角形の把持対象物を把持した場合のロボットハンドと把持対象物の状態を示す図であり、図３（ａ）は下側から見た場合の図、図３（ｂ）は側面から見た場合の図である。
大きい四角形の把持対象物を把持した場合と同様に、把持機構１及び把持機構２を閉じることにより、それぞれ２箇所、合計４個所（直交面３ａ，４ａ，６ａ，７ａ）にて把持対象物１０を安定して把持している。
また、各把持機構に設けた一対の指とこの一対の指を支持する駆動機構とで形成される平面ＰＢが互いに対向し、これら平面ＰＢが把持機構１，２の各開閉方向Ａおよび移動方向Ｃに沿った面ＰＡに対し直交するように配置されているので、把持機構１と把持機構２との間の距離を最小にしても、駆動機構５及び駆動機構８が把持対象物１０の上部にあるため、把持対象物１０周辺と駆動機構５及び駆動機構８とが干渉することが無い。
従って、把持対象物１０を周辺に障害物がある箇所に挿入する作業のように周囲との干渉が問題となる場合でも作業可能である。 FIG. 3 is a diagram illustrating a state of the robot hand and the gripping object when the same gripping object having a small cross-sectional shape is gripped by the robot hand according to the first embodiment, and FIG. FIG. 3B is a diagram when viewed from the side, and FIG.
As in the case of gripping a large rectangular gripping object, the gripping object 10 is held at two places (four orthogonal faces 3a, 4a, 6a, 7a) by closing the gripping mechanism 1 and the gripping mechanism 2 respectively. Is gripping stably.
Further, a plane PB formed by a pair of fingers provided in each gripping mechanism and a drive mechanism that supports the pair of fingers is opposed to each other, and these planes PB are in the opening / closing direction A and the moving direction of the gripping mechanisms 1 and 2. Since it is arranged so as to be orthogonal to the plane PA along C, even if the distance between the gripping mechanism 1 and the gripping mechanism 2 is minimized, the drive mechanism 5 and the drive mechanism 8 are located above the gripping object 10. Therefore, the periphery of the grasped object 10 and the drive mechanism 5 and the drive mechanism 8 do not interfere with each other.
Therefore, the work can be performed even when interference with the surroundings becomes a problem, such as the work of inserting the grasped object 10 into a place where there is an obstacle around.

また、幅が途中で異なる対象物、十字型対象物、Ｔ字型対象物等に関しても、該把持対象物と駆動機構５及び駆動機構８とが干渉することがないので、容易に把持することができる。また、上記把持対象物を把持機構１の指３，４間に発生する把持力と、把持機構２の指６，７間に発生する把持力と、把持機構１，２間に発生する把持力により把持しているので安定した把持が可能となる。   Further, an object having a different width, a cross-shaped object, a T-shaped object, and the like can be easily grasped because the grasping object does not interfere with the drive mechanism 5 and the drive mechanism 8. Can do. Further, the gripping force generated between the fingers 3 and 4 of the gripping mechanism 1, the gripping force generated between the fingers 6 and 7 of the gripping mechanism 2, and the gripping force generated between the gripping mechanisms 1 and 2. Since it is gripped by this, stable gripping becomes possible.

図４は同じ本実施の形態１のロボットハンドで断面形状が円形の把持対象物１０を把持した場合のロボットハンドと把持対象物の状態を下側から見た場合の図である。
把持機構１及び把持機構２を閉じると共に、把持機構１と把持機構２との間隔を狭めることにより把持対象物１０を４箇所にて把持している。
また、把持機構１の指３，４間に発生する把持力と、把持機構２の指６，７間に発生する把持力と、把持機構１，２間に発生する把持力により把持対象物１０を把持しているので安定した把持が可能となる。
また、把持機構１の指３，４及び把持機構２の指６，７の先端部は、指の開閉軸（開閉方向Ａ）と直交する面に対し傾斜した傾斜面３ｂ，４ｂ，６ｂ，７ｂを有しており、先端部の断面形状（平面ＰＢに垂直な断面）は五角形としている。
傾斜面３ｂ，４ｂ，６ｂ，７ｂを、断面形状が円形の把持対象物１０の中心方向に垂直な面とすれば、この傾斜面で把持対象物を把持するので、より安定した把持が可能となる。 FIG. 4 is a view of the state of the robot hand and the gripping object viewed from below when the gripping object 10 having a circular cross-sectional shape is gripped by the same robot hand of the first embodiment.
The gripping object 1 and the gripping mechanism 2 are closed, and the gripping object 10 is gripped at four locations by narrowing the interval between the gripping mechanism 1 and the gripping mechanism 2.
Further, the gripping object 10 is generated by the gripping force generated between the fingers 3 and 4 of the gripping mechanism 1, the gripping force generated between the fingers 6 and 7 of the gripping mechanism 2, and the gripping force generated between the gripping mechanisms 1 and 2. Since it is gripping, stable gripping is possible.
Further, the tip portions of the fingers 3 and 4 of the gripping mechanism 1 and the fingers 6 and 7 of the gripping mechanism 2 are inclined surfaces 3b, 4b, 6b, and 7b that are inclined with respect to a plane orthogonal to the finger opening / closing axis (opening / closing direction A). The cross-sectional shape (cross-section perpendicular to the plane PB) of the tip is a pentagon.
If the inclined surfaces 3b, 4b, 6b, and 7b are surfaces perpendicular to the center direction of the grasped object 10 having a circular cross-sectional shape, the grasped object is grasped by the inclined surface, and thus more stable grasping is possible. Become.

断面が円形の対象物を安定して把持するためには、図４のように指先端断面を五角形にして、一対の指の開閉軸と直交する面と、この直交面に対し傾斜した傾斜面とを有する形状とする他、図５に示すように、各指の断面（平面ＰＢに垂直な断面）を円形（図５（ａ））、円弧と平面（図５（ｂ））、六角形（図５（ｃ））にしてもよい。
また、図５のような断面形状にすれば、円形の穴をもつ把持対象物を穴の内側から安定して把持することも可能である。
なお、断面形状が四角形の対象物のみ把持する場合は、ロボットハンド指先端の断面形状は一対の指の開閉軸と直交する面を有する四角形でも構わない。 In order to stably hold an object having a circular cross section, a finger tip cross section is made pentagonal as shown in FIG. 4, and a plane orthogonal to the pair of finger opening and closing axes and an inclined plane inclined with respect to this orthogonal plane As shown in FIG. 5, the cross-section (cross-section perpendicular to the plane PB) of each finger is circular (FIG. 5 (a)), arc and plane (FIG. 5 (b)), hexagon, as shown in FIG. (FIG. 5C) may be used.
In addition, if the cross-sectional shape is as shown in FIG. 5, it is possible to stably grip a gripping object having a circular hole from the inside of the hole.
When only the object having a quadrangular cross-sectional shape is gripped, the cross-sectional shape of the tip of the robot hand finger may be a quadrilateral having a surface orthogonal to the opening / closing axis of the pair of fingers.

また、上記実施の形態では、駆動機構５、駆動機構８、相対位置変更用駆動機構９がそれぞれ直線上を動く機構（直動機構）を示したが、図６のように、相対位置変更用駆動機構１５として平行リンクもしくはベルト駆動により、把持機構１用リンク１１，１２及び把持機構２用リンク１３，１４が回転軸Ｄに対して駆動する機構（リンク機構）としてもよい。
さらに、図７のように、駆動機構５及び駆動機構８に関しても直動機構ではなく、それぞれ平行リンクもしくはベルト駆動により、回転軸Ｅ１，Ｅ２に対して駆動する駆動機構（リンク機構）１６，１７としてもよい。 In the above-described embodiment, the drive mechanism 5, the drive mechanism 8, and the relative position changing drive mechanism 9 each move on a straight line. However, as shown in FIG. The drive mechanism 15 may be a mechanism (link mechanism) in which the grip mechanism 1 links 11 and 12 and the grip mechanism 2 links 13 and 14 are driven with respect to the rotation axis D by a parallel link or belt drive.
Further, as shown in FIG. 7, the drive mechanism 5 and the drive mechanism 8 are not linear motion mechanisms but drive mechanisms (link mechanisms) 16 and 17 that are driven with respect to the rotation axes E1 and E2 by parallel links or belt drives, respectively. It is good.

なお、上記実施の形態においては、２つの把持機構１，２を備えるものを示したが、同様の構成の把持機構を３つ以上、複数備えるものであってもよい。
また、把持機構１と把持機構２とは、各把持機構に設けた一対の指とこの一対の指を支持する駆動機構とで形成される平面ＰＢが互いに平行に対向し、かつ各平面ＰＢが、把持機構１，２の各開閉方向Ａ及び移動方向Ｃに沿った面ＰＡに対し直交するように並べられている構成を示したが、各平面ＰＢが上記面ＰＡに対して傾いていてもよく、また各平面ＰＢが平行でなくともよい。 In addition, although the thing provided with the two holding mechanisms 1 and 2 was shown in the said embodiment, you may provide three or more holding mechanisms with the same structure, and two or more.
The gripping mechanism 1 and the gripping mechanism 2 are configured such that planes PB formed by a pair of fingers provided in each gripping mechanism and a driving mechanism that supports the pair of fingers are opposed to each other in parallel, and each plane PB is Although the configuration in which the gripping mechanisms 1 and 2 are arranged so as to be orthogonal to the surface PA along the opening / closing direction A and the moving direction C of the gripping mechanisms 1 and 2 is shown, In addition, the planes PB may not be parallel.

実施の形態２．
図８は本発明の実施の形態２によるロボットハンドを示す構成図である。
実施の形態１では、把持機構１の駆動機構５、把持機構２の駆動機構８、及び相対位置変更用駆動機構９はそれぞれ回転型の電動モータを１個づつ備え、ボールねじを介して指及び把持機構を動作させていた。本実施の形態では相対位置変更用駆動機構または把持機構の駆動機構に回転型の電動モータを２個備えるものである。 Embodiment 2. FIG.
FIG. 8 is a block diagram showing a robot hand according to Embodiment 2 of the present invention.
In the first embodiment, the drive mechanism 5 of the gripping mechanism 1, the drive mechanism 8 of the gripping mechanism 2, and the relative position changing drive mechanism 9 are each provided with one rotary electric motor, and the fingers and The gripping mechanism was operating. In the present embodiment, two rotary electric motors are provided in the relative position changing drive mechanism or the gripping mechanism drive mechanism.

図８（ａ）は、相対位置変更用駆動機構１８に回転型の電動モータを２個、把持機構１の駆動機構５、及び把持機構２の駆動機構８にそれぞれ回転型の電動モータを１個づつ備えたものである。
相対位置変更用駆動機構（冗長直動機構）１８に回転型の電動モータを２個備えることにより、把持機構１と把持機構２とを独立に駆動できる。従って、相対位置変更用駆動機構１８のストロークの範囲内で、把持機構１と把持機構２とを独立に配置できるため、相対位置変更用駆動機構１８のストロークの任意の位置で把持対象物を把持し、周辺との干渉を防止することが可能である。 FIG. 8A shows two rotary electric motors for the relative position changing drive mechanism 18, and one rotary electric motor for each of the drive mechanism 5 of the gripping mechanism 1 and the drive mechanism 8 of the gripping mechanism 2. It is prepared one by one.
By providing two rotary electric motors in the relative position changing drive mechanism (redundant linear motion mechanism) 18, the gripping mechanism 1 and the gripping mechanism 2 can be driven independently. Accordingly, since the gripping mechanism 1 and the gripping mechanism 2 can be independently arranged within the range of the stroke of the relative position changing drive mechanism 18, the gripping object is gripped at an arbitrary position of the stroke of the relative position changing drive mechanism 18. In addition, it is possible to prevent interference with the surroundings.

図８（ｂ）は、把持機構１の駆動機構１９に回転型の電動モータを２個備え、把持機構２の駆動機構８と相対位置変更用駆動機構９に回転型の電動モータを１個づつ備えたものである。
把持機構１の駆動機構（冗長直動機構）１９に回転型の電動モータを２個備えることにより、把持機構１の指３，４を駆動機構１９のストロークの範囲内で任意に配置することが可能となり、左右対称でなく、把持機構１，２で把持した際の指３，６を結ぶ直線（破線Ｇ）と指４，７を結ぶ直線（破線Ｆ）とのいずれもが、相対位置変更用駆動機構９による把持機構１，２の移動方向Ｃと平行とならない把持対象物も把持することが可能となる。 FIG. 8B shows that the drive mechanism 19 of the gripping mechanism 1 has two rotary electric motors, and the drive mechanism 8 of the gripping mechanism 2 and the relative position changing drive mechanism 9 have one rotary electric motor. It is provided.
By providing two rotary electric motors in the drive mechanism (redundant linear motion mechanism) 19 of the gripping mechanism 1, the fingers 3 and 4 of the gripping mechanism 1 can be arbitrarily arranged within the range of the stroke of the drive mechanism 19. Relative position change is possible for both the straight line connecting the fingers 3 and 6 (broken line G) and the straight line connecting the fingers 4 and 7 (broken line F) when the gripping mechanisms 1 and 2 are gripped. It is also possible to grip a gripping object that is not parallel to the moving direction C of the gripping mechanisms 1 and 2 by the driving mechanism 9.

なお、上記実施の形態２では相対位置変更用駆動機構または把持機構の駆動機構のいずれか１方が２個の回転型の電動モータを備えるものを示したが、両方に備えるものであっても良い。   In the second embodiment, one of the relative position changing drive mechanism and the gripping mechanism drive mechanism is provided with two rotary electric motors. good.

実施の形態３．
図９は本発明の実施の形態３によるロボットハンドを示す構成図である。
実施の形態１とは把持機構１が、指３，４と駆動機構５とを上下方向Ｈに移動させる移動機構２０を備える点が異なっている。
移動機構２０は、例えば回転型の電動モータとボールねじとにより指３，４と駆動機構５とを動作させ、一対の指３，４とこの指を支持する駆動機構５とで形成される平面ＰＢに沿って、把持機構１の開閉軸（開閉方向Ａ）に直交する方向Ｈに、指３，４と駆動機構５とを移動させる。 Embodiment 3 FIG.
FIG. 9 is a block diagram showing a robot hand according to Embodiment 3 of the present invention.
The difference from Embodiment 1 is that the gripping mechanism 1 includes a moving mechanism 20 that moves the fingers 3 and 4 and the driving mechanism 5 in the vertical direction H.
The moving mechanism 20 is a plane formed by, for example, a pair of fingers 3 and 4 and the driving mechanism 5 that supports the fingers by operating the fingers 3 and 4 and the driving mechanism 5 by a rotary electric motor and a ball screw. The fingers 3 and 4 and the drive mechanism 5 are moved in a direction H perpendicular to the opening / closing axis (opening / closing direction A) of the gripping mechanism 1 along the PB.

把持対象物が非常に小さい場合は、把持機構１を移動機構２０により上昇した姿勢で保持し、把持対象物を把持機構２のみで把持することにより、周囲との干渉を避けることが可能となる。   When the gripping object is very small, it is possible to avoid interference with the surroundings by holding the gripping mechanism 1 in a raised posture by the moving mechanism 20 and gripping the gripping object only by the gripping mechanism 2. .

また、細長いコネクタを把持・挿入する作業を行う際は、把持機構１、及び把持機構２を閉じることによりコネクタを把持し、ロボットハンドを移動してコネクタレセプタに該コネクタをあわせ、把持機構１を若干広げた後上昇させ、コネクタに接触しなくなる地点で把持機構１の指間隔を狭めた後、把持機構１を下降することによりコネクタの片側をコネクタレセプタに挿入する。次に、把持機構２を若干広げた後、一旦ロボットハンド及び把持機構１を上昇させてロボットハンドを１８０度回転し、ロボットを下降させて把持機構２を閉じることにより、挿入した側のコネクタを把持機構２で把持し、把持機構１を下降させることによりコネクタの反対側もコネクタレセプタに挿入することができる。
以上のような手順で作業を行えば、把持しにくい細長いコネクタもコネクタレセプタに挿入することが可能となる。 When gripping and inserting an elongated connector, the connector is gripped by closing the gripping mechanism 1 and the gripping mechanism 2, and the robot hand is moved to align the connector with the connector receptor. After slightly widening and raising, the finger spacing of the gripping mechanism 1 is narrowed at a point where it does not contact the connector, and then the gripping mechanism 1 is lowered to insert one side of the connector into the connector receptor. Next, after slightly widening the gripping mechanism 2, the robot hand and the gripping mechanism 1 are once raised, the robot hand is rotated 180 degrees, the robot is lowered and the gripping mechanism 2 is closed, so that the connector on the inserted side is By gripping with the gripping mechanism 2 and lowering the gripping mechanism 1, the opposite side of the connector can be inserted into the connector receptor.
If work is performed according to the procedure as described above, an elongated connector that is difficult to grasp can be inserted into the connector receptor.

なお図示しないが、把持機構２にも把持機構１と同様に駆動機構２の指６，７に平行な方向への駆動機構を設けて上下に駆動可能としてもよい。   Although not shown, the gripping mechanism 2 may be driven up and down by providing a drive mechanism in the direction parallel to the fingers 6 and 7 of the drive mechanism 2 as in the gripping mechanism 1.

実施の形態４．
図１０は本発明の実施の形態４によるロボットハンドを示す構成図である。
実施の形態１とは把持機構１が、把持機構１の開閉軸（開閉方向Ａ）に平行な軸Ｉの周りに、一対の指３，４と駆動機構５とを回転させる回転機構２１（例えば回転型電動モータと減速機の組み合わせによる回転駆動）を有する点が異なっている。
回転機構２１によりを一対の指３，４と駆動機構５とを回転させ、把持機構１を把持機構２の反対側方向へ広げることにより、相対位置変更用駆動機構９のストローク以上に把持機構１と把持機構２との間隔を広げることができ、より大きな対象物も把持できる。 Embodiment 4 FIG.
FIG. 10 is a block diagram showing a robot hand according to Embodiment 4 of the present invention.
In the first embodiment, the gripping mechanism 1 rotates a pair of fingers 3 and 4 and the drive mechanism 5 around an axis I parallel to the opening / closing axis (opening / closing direction A) of the gripping mechanism 1 (for example, It is different in that it has a rotational drive by a combination of a rotary electric motor and a speed reducer.
The rotating mechanism 21 rotates the pair of fingers 3 and 4 and the driving mechanism 5 to spread the gripping mechanism 1 in the direction opposite to the gripping mechanism 2, so that the gripping mechanism 1 exceeds the stroke of the relative position changing drive mechanism 9. And the gripping mechanism 2 can be widened, and larger objects can be gripped.

また、回転機構２１により一対の指３，４と駆動機構５とをさらに回転させ、把持機構１の指３，４を水平よりも上側に移動して退避させ、把持機構２のみで把持対象物を把持すれば、小さい対象物を把持する際の周辺との干渉を防止できる。   Further, the pair of fingers 3 and 4 and the drive mechanism 5 are further rotated by the rotation mechanism 21, and the fingers 3 and 4 of the gripping mechanism 1 are moved upward and retracted from the horizontal, and only the gripping mechanism 2 holds the object to be gripped. If it grips, interference with the periphery at the time of gripping a small target object can be prevented.

なお、図示しないが、把持機構２にも把持機構１と同様に、把持機構２の開閉軸（開閉方向Ａ）に平行な軸の周りに、一対の指６，７と駆動機構８とを回転させる回転機構を備えてもよい。   Although not shown, the gripping mechanism 2 also rotates the pair of fingers 6 and 7 and the drive mechanism 8 around an axis parallel to the opening / closing axis (opening / closing direction A) of the gripping mechanism 2 as in the gripping mechanism 1. A rotating mechanism may be provided.

実施の形態５．
図１１は本発明の実施の形態５によるロボットハンドを示す構成図である。
実施の形態１とは把持機構１及び把持機構２が、把持機構１，２の開閉軸（開閉方向Ａ）に直交する軸の周り（図１１では指に平行な軸Ｊ１，Ｊ２の周り）に、それぞれの一対の指と駆動機構とを回転させる回転機構２２，２３（例えば回転型電動モータと減速機の組み合わせによる回転駆動）を有する点が異なっている。
把持機構１及び把持機構２を回転可能とすることにより、図１２（ａ）に示す把持対象物２４を把持する際、周辺との干渉が防止でき、把持対象物２４の部位２５と部位２６とをそれぞれ把持機構１と把持機構２とで把持することが可能である。
また、図１２（ｂ）に示す把持対象物２７のように円弧形状をした把持対象物の両端２８，２９をそれぞれ把持機構１，把持機構２で把持することが可能である。 Embodiment 5 FIG.
FIG. 11 is a block diagram showing a robot hand according to the fifth embodiment of the present invention.
In the first embodiment, the gripping mechanism 1 and the gripping mechanism 2 are arranged around an axis orthogonal to the opening / closing axis (opening / closing direction A) of the gripping mechanisms 1 and 2 (around axes J1 and J2 parallel to the fingers in FIG. 11). The difference is that it has rotation mechanisms 22 and 23 (for example, rotation drive by a combination of a rotary electric motor and a speed reducer) for rotating each pair of fingers and the drive mechanism.
By enabling the gripping mechanism 1 and the gripping mechanism 2 to rotate, when gripping the gripping object 24 shown in FIG. 12A, interference with the surroundings can be prevented, and the parts 25 and 26 of the gripping object 24 can be prevented. Can be gripped by the gripping mechanism 1 and the gripping mechanism 2, respectively.
Further, both ends 28 and 29 of an arc-shaped gripping object such as the gripping object 27 shown in FIG. 12B can be gripped by the gripping mechanism 1 and the gripping mechanism 2, respectively.

上記実施の形態５では、把持機構１及び把持機構２の両方に回転機構２３，２４を設けたが、どちらか一方のみ設けても良い。
また、回転軸の方向は一対の指の開閉方向Ａに直交する軸であれば、上記方向（指に平行な回転軸Ｊ１，Ｊ２）に限らない。移動方向Ｃに平行な回転軸であっても良い。 In the fifth embodiment, the rotation mechanisms 23 and 24 are provided in both the gripping mechanism 1 and the gripping mechanism 2, but only one of them may be provided.
Further, the direction of the rotation axis is not limited to the above direction (the rotation axes J1 and J2 parallel to the fingers) as long as the direction is orthogonal to the opening / closing direction A of the pair of fingers. A rotation axis parallel to the movement direction C may be used.

このように、本実施の形態によれば、曲線状の把持対象物など、把持対象物の把持箇所が平行でない対象物も安定して把持できる効果がある。
また、回転軸が移動方向Ｃに平行な回転軸の場合はこの回転機構を有する把持機構を不要なときに退避させることができ、周囲との干渉が厳しい場合でも作業可能となる効果がある。 As described above, according to the present embodiment, there is an effect that it is possible to stably grip an object whose gripping position of the gripping target object is not parallel, such as a curved gripping target object.
Further, when the rotation axis is a rotation axis parallel to the moving direction C, the gripping mechanism having this rotation mechanism can be retracted when not required, and there is an effect that the work can be performed even when interference with the surroundings is severe.

実施の形態６．
図１３は本発明の実施の形態５によるロボットハンドを示す構成図である。
本実施の形態では３個の把持機構１，２，３０を備え、そのうちの把持機構３０は把持機構１，２と同様、一対の把持部（指３３と指３４）と、指３３，３４を支持すると共に指３３，３４を駆動する駆動機構（支持・駆動機構）３５とを備えている。
また、把持機構３０は、相対位置変更用駆動機構３１により、相対位置変更用駆動機構９の駆動軸（矢印Ｃの方向）と垂直な方向Ｋに駆動され、さらに回転機構３２により回転軸Ｊ３の周りに回転する。 Embodiment 6 FIG.
FIG. 13 is a block diagram showing a robot hand according to Embodiment 5 of the present invention.
In the present embodiment, three gripping mechanisms 1, 2, 30 are provided, and the gripping mechanism 30 includes a pair of gripping portions (finger 33 and finger 34) and fingers 33, 34, similar to the gripping mechanisms 1, 2. A drive mechanism (support / drive mechanism) 35 that supports and drives the fingers 33 and 34 is provided.
The gripping mechanism 30 is driven by a relative position change drive mechanism 31 in a direction K perpendicular to the drive shaft of the relative position change drive mechanism 9 (the direction of the arrow C), and is further rotated by the rotation mechanism 32 of the rotation axis J3. Rotate around.

図１３に示すロボットハンドでは把持機構が３個存在し、駆動軸の方向が異なる２つの相対位置変更用駆動機構により、各把持機構の間隔を変更でき、さらに把持方向もそれぞれ自由に変更できるので、さらに多くの種類の対象物を把持できる。例えば図１４に示す半リング状の把持対象物３６を３７、３８、３９の３箇所で把持できる。   In the robot hand shown in FIG. 13, there are three gripping mechanisms, and the two relative position changing drive mechanisms having different drive shaft directions can change the interval between the gripping mechanisms, and the gripping direction can be freely changed. In addition, many types of objects can be gripped. For example, the semi-ring-shaped gripping object 36 shown in FIG. 14 can be gripped at three locations 37, 38, and 39.

なお、図１３では３個の把持機構１，２，３０と２つの相対位置変更用駆動機構９，３１を備えるものを示したが、それぞれこれ以上の数を備えるものであっても良い。   In FIG. 13, the three gripping mechanisms 1, 2, 30 and the two relative position changing drive mechanisms 9, 31 are shown, but each may have a larger number.

また、上記各実施の形態を組み合わせて、把持対象物に応じた移動機構及び回転機構を合わせ持つようにしても良い。   In addition, the above embodiments may be combined to have a moving mechanism and a rotating mechanism corresponding to the grasped object.

本発明の実施の形態１によるロボットハンドを示す構成図である。It is a block diagram which shows the robot hand by Embodiment 1 of this invention. 本発明の実施の形態１によるロボットハンドにより大きい四角形の把持対象物を把持した場合の図である。It is a figure at the time of grasping a grasping object with a larger square on the robot hand according to Embodiment 1 of the present invention. 本発明の実施の形態１によるロボットハンドにより小さい四角形の把持対象物を把持した場合の図である。It is a figure at the time of grasping the grasping object of a small square with the robot hand by Embodiment 1 of the present invention. 本発明の実施の形態１によるロボットハンドにより円筒状の把持対象物を把持した場合の図である。It is a figure at the time of gripping a cylindrical holding | grip target object with the robot hand by Embodiment 1 of this invention. 本発明の実施の形態１によるロボットハンドの先端形状の他の例を示す図である。It is a figure which shows the other example of the front-end | tip shape of the robot hand by Embodiment 1 of this invention. 本発明の実施の形態１による他のロボットハンドを示す構成図である。It is a block diagram which shows the other robot hand by Embodiment 1 of this invention. 本発明の実施の形態１によるさらに他のロボットハンドを示す構成図である。It is a block diagram which shows the further another robot hand by Embodiment 1 of this invention. 本発明の実施の形態２によるロボットハンドを示す構成図である。It is a block diagram which shows the robot hand by Embodiment 2 of this invention. 本発明の実施の形態３によるロボットハンドを示す構成図である。It is a block diagram which shows the robot hand by Embodiment 3 of this invention. 本発明の実施の形態４によるロボットハンドを示す構成図である。It is a block diagram which shows the robot hand by Embodiment 4 of this invention. 本発明の実施の形態５によるロボットハンドを示す構成図である。It is a block diagram which shows the robot hand by Embodiment 5 of this invention. 本発明の実施の形態５によるロボットハンドにより把持できる把持対象物を示す図である。It is a figure which shows the holding | grip target object which can be hold | gripped with the robot hand by Embodiment 5 of this invention. 本発明の実施の形態６によるロボットハンドを示す構成図である。It is a block diagram which shows the robot hand by Embodiment 6 of this invention. 本発明の実施の形態６によるロボットハンドにより把持できる把持対象物を示す図である。It is a figure which shows the holding | grip target object which can be hold | gripped with the robot hand by Embodiment 6 of this invention.

符号の説明Explanation of symbols

１，２，３０ 把持機構、３，４，６，７，３３，３４ 指、５，８，３５ 駆動機構、９，３１ 相対位置変更用駆動機構、１０，２４，２７，３６ 把持対象物、１１，１２，１３，１４ 把持機構用リンク、１５ 相対位置変更用駆動機構（リンク機構）、１６，１７ 駆動機構（リンク機構）、１８ 相対位置変更用駆動機構（冗長直動機構）、１９ 駆動機構（冗長直動機構）、２０ 移動機構、２１，２２，２３，３２ 回転機構。   1, 2, 30 Grip mechanism, 3, 4, 6, 7, 33, 34 Finger, 5, 8, 35 Drive mechanism, 9, 31 Relative position change drive mechanism 10, 24, 27, 36 Grip object 11, 12, 13, 14 Grip mechanism link, 15 Relative position change drive mechanism (link mechanism), 16, 17 Drive mechanism (link mechanism), 18 Relative position change drive mechanism (redundant linear motion mechanism), 19 drive Mechanism (redundant linear motion mechanism), 20 moving mechanism, 21, 22, 23, 32 rotating mechanism.

Claims (7)

一対の把持部を互いに近接離反する方向に開閉し、把持対象物を上記一対の把持部で把持可能な把持機構を複数備えると共に、上記複数の把持機構の少なくとも１つを移動して上記複数の把持機構の相対位置を変更する相対位置変更用駆動機構を備えたロボットハンドであって、上記複数の把持機構は、上記一対の把持部と上記一対の把持部を支持する支持部とで構成される平面が、上記複数の把持機構の各開閉方向、及び上記相対位置変更用駆動機構による上記把持機構の移動方向に沿った面に対し交差するように並べられていることを特徴とするロボットハンド。 A plurality of gripping mechanisms capable of opening and closing the pair of gripping parts in a direction approaching and separating from each other, and gripping an object to be gripped by the pair of gripping parts, and moving at least one of the plurality of gripping mechanisms A robot hand provided with a relative position changing drive mechanism for changing a relative position of a gripping mechanism, wherein the plurality of gripping mechanisms are configured by the pair of gripping portions and a support portion for supporting the pair of gripping portions. The robot hands are arranged so as to intersect each opening / closing direction of the plurality of gripping mechanisms and a plane along the moving direction of the gripping mechanism by the relative position changing drive mechanism. . 一対の把持部の先端部は、把持機構の開閉方向と直交する面と、この直交面に対し傾斜した傾斜面とを有することを特徴とする請求項１に記載のロボットハンド。 2. The robot hand according to claim 1, wherein the distal ends of the pair of gripping portions include a surface orthogonal to an opening / closing direction of the gripping mechanism and an inclined surface inclined with respect to the orthogonal surface. 一対の把持部の先端部は、上記一対の把持部と上記一対の把持部を支持する支持部とで形成される平面に垂直な断面の形状が円弧形状を有することを特徴とする請求項１に記載のロボットハンド。 The tip of the pair of gripping portions has an arc shape in a cross section perpendicular to a plane formed by the pair of gripping portions and a support portion that supports the pair of gripping portions. The robot hand described in 1. 少なくとも一つの把持機構は、一対の把持部と上記一対の把持部を支持する支持部とで形成される平面に沿って、上記把持機構の開閉方向に直交する方向に、上記一対の把持部を移動させる移動機構を有することを特徴とする請求項１〜３のいずれか１項に記載のロボットハンド。 At least one gripping mechanism moves the pair of gripping portions in a direction orthogonal to the opening / closing direction of the gripping mechanism along a plane formed by a pair of gripping portions and a support portion that supports the pair of gripping portions. The robot hand according to claim 1, further comprising a moving mechanism that moves the robot hand. 少なくとも一つの把持機構は、上記把持機構の開閉方向に平行な軸の周りに、上記一対の把持部を回転させる回転機構を有することを特徴とする請求項１〜４のいずれか１項に記載のロボットハンド。 The at least one gripping mechanism has a rotation mechanism that rotates the pair of gripping portions around an axis parallel to the opening / closing direction of the gripping mechanism. Robot hand. 少なくとも一つの把持機構は、上記把持機構の開閉方向に直交する軸の周りに、上記一対の把持部を回転させる回転機構を有することを特徴とする請求項１〜５のいずれか１項に記載のロボットハンド。 The at least one gripping mechanism includes a rotation mechanism that rotates the pair of gripping portions around an axis orthogonal to the opening / closing direction of the gripping mechanism. Robot hand. 相対位置変更用駆動機構は、駆動軸が互いに交差する複数の相対位置変更用駆動機構を備えたことを特徴とする請求項１〜６のいずれか１項に記載のロボットハンド。 The robot hand according to any one of claims 1 to 6, wherein the relative position changing drive mechanism includes a plurality of relative position changing drive mechanisms whose drive axes intersect each other.
JP2007172047A 2007-06-29 2007-06-29 Robot hand Pending JP2009006460A (en)

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